Design of an MRI compatible robot for wrist rehabilitation

Abstract

Magnetic Resonance Imaging (MRI) can be used to study the effects of robotic therapy on stroke patients. This thesis focuses on the design of an MRI compatible wrist robot to be used as a clinical tool for studying the stroke recovery process and the effectiveness of robotic therapy. The robot must comply with strict MRI compatibility requirements, which require careful selection of materials and components. The actuation approach consists of a non- MRI compatible electric motor placed outside the MR room, which is used to drive an MRI compatible hydraulic system. A novel, low friction, MRI compatible hydraulic vane motor was designed for use in the hydraulic system. The robot was designed for use with two interchangeable transmission alternatives: differential gears or friction drive. A stand was designed to allow the wrist robot and patient to fit comfortably within the MRI machine. The MRI compatible wrist robot was assembled and qualitatively tested.